Folding hard with a solid state reversing circuit

Single chip H-bridges can't use vertical current flow and are very limited in current. However there are some which have several MOSFETs and chips in one package, such as the VNHxxxx series (such as VNH3SP30 - polulo have a variety of pcbs using these).

Simple reliable MOSFET motor drivers require a driver chip to provide protection features like shoot-through-prevention, under-voltage shutdown, etc. Without protection circuitry MOSFET bridges just blow up too frequently to be usable!

MOSFETs with on-resistances in the sub 1-milliohm range are available, you won't need heatsinking if you pick a good enough MOSFET until you are in the 30A-or-more range. However its a case of balancing the cost of the devices with the cost of the heatsink - 10 milliohms is far more easy to source than 1 milliohm, especially for higher voltages.

MOSFET drivers are designed to reduce parts count, not increase it.